Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
||
| 3 | |||
| 4 | #include <inttypes.h> |
||
| 5 | |||
| 6 | |||
| 7 | typedef enum |
||
| 8 | { |
||
| 9 | INVALID, |
||
| 10 | NEWDATA, |
||
| 11 | PROCESSED |
||
| 12 | } Status_t; |
||
| 13 | |||
| 14 | // Satfix types for GPSData.satfix |
||
| 15 | #define SATFIX_NONE 0x00 |
||
| 16 | #define SATFIX_DEADRECKOING 0x01 |
||
| 17 | #define SATFIX_2D 0x02 |
||
| 18 | #define SATFIX_3D 0x03 |
||
| 19 | #define SATFIX_GPS_DEADRECKOING 0x04 |
||
| 20 | #define SATFIX_TIMEONLY 0x05 |
||
| 21 | // Flags for interpretation of the GPSData.flags |
||
| 22 | #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
||
| 23 | #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
||
| 24 | #define FLAG_WKNSET 0x04 // (is Week Number valid) |
||
| 25 | #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
||
| 26 | |||
| 27 | |||
| 28 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
||
| 29 | 01-02 NAV - POSLLH |
||
| 30 | 01-06 Nav - SOL |
||
| 31 | 01-12 NAV - VELNED */ |
||
| 32 | |||
| 33 | typedef struct |
||
| 34 | { |
||
| 35 | uint8_t flags; // flags |
||
| 36 | uint8_t satnum; // number of satelites |
||
| 37 | uint8_t satfix; // type of satfix |
||
| 38 | int32_t longitude; // in 1e-07 deg |
||
| 39 | int32_t latitude; // in 1e-07 deg |
||
| 40 | int32_t altitude; // in mm |
||
| 41 | uint32_t PAcc; // in cm 3d position accuracy |
||
| 42 | int32_t velnorth; // in cm/s |
||
| 43 | int32_t veleast; // in cm/s |
||
| 44 | int32_t veltop; // in cm/s |
||
| 45 | uint32_t velground; // 2D ground speed in cm/s |
||
| 46 | uint32_t VAcc; // in cm/s 3d velocity accuracy |
||
| 47 | Status_t status; // status of data: invalid | valid |
||
| 48 | } GPS_INFO_t; |
||
| 49 | |||
| 50 | //here you will find the current gps info |
||
| 51 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
||
| 52 | |||
| 53 | // this variable should be decremted by the application |
||
| 54 | extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
||
| 55 | |||
| 56 | |||
| 57 | #define USART1_BAUD 57600 |
||
| 58 | // this function should be called within the UART RX ISR |
||
| 59 | extern void ubx_parser(uint8_t c); |
||
| 60 | |||
| 61 | #endif //_UBX_H |